Three-dimensional vehicle path guidelines

ABSTRACT

System, methods, and other embodiments described herein relate to aiding a user navigating a vehicle by displaying on a display device, a view of a front or rear of the vehicle with three-dimensional guideline walls overlaying the view. In one embodiment, a method includes, acquiring data that specifies a steering angle for the vehicle. The method includes determining, based on the steering angle data, a left three-dimensional guideline wall and a right three-dimensional guideline wall that together identify a potential path of travel for the vehicle. Each three-dimensional guideline wall has a height based at least on a height of a portion of the vehicle, and wherein the left and right three-dimensional guideline walls have a distance therebetween based at least on a width of the vehicle.

TECHNICAL FIELD

The subject matter described herein relates, in general, to a system andmethod for determining and displaying a potential path of travel for avehicle based on a steering angle of the vehicle.

BACKGROUND

Modern vehicles include one or more cameras and display devices that canprovide rearward driving assistance. Some vehicles further includecameras that provide forward driving assistance. The vehicles may employvisual overlay graphics that are superimposed on a camera image toprovide the driving assistance. However, the visual overlay graphicsdepicting a potential path of travel in a two-dimensional format may beless than optimal when assistance is needed to ensure that the profileof the vehicle may fit within a space along the potential path.

SUMMARY

In one embodiment, example systems and methods relate to a manner ofdisplaying a field of view of a sensor and overlaying three-dimensionalguidelines on the displayed field of view. As noted, the two-dimensionalguidelines may not provide adequate assistance to a user navigating avehicle into a space along a potential path.

In one embodiment, a vehicle guidance system for aiding a usernavigating a vehicle is disclosed. The vehicle guidance system includesone or more processors, a memory communicably coupled to the one or moreprocessors and a display device. The memory stores an acquisition moduleincluding instructions that when executed by the one or more processorscause the one or more processors to acquire data that specifies asteering angle for the vehicle. The memory stores a guidelinedetermination module including instructions that when executed by theone or more processors cause the one or more processors to determine,based on the data, a left three-dimensional guideline wall and a rightthree-dimensional guideline wall. The left and right three-dimensionalguideline walls each has a height based at least on a height of aportion of the vehicle, and the left and right three-dimensionalguideline walls have a distance therebetween based at least on a widthof the vehicle. The left and right guideline walls identify a potentialpath of travel for the vehicle. The display device is configured todisplay a field of view and the left and right guideline walls, the leftand right guideline walls overlaying the field of view.

In one embodiment, a non-transitory computer-readable medium for aidinga user navigating a vehicle and including instructions that whenexecuted by one or more processors cause the one or more processors toperform one or more functions. The instructions include instructions toacquire data that specifies a steering angle for the vehicle. Theinstructions further include instructions to determine based on thedata, a left three-dimensional guideline wall and a rightthree-dimensional guideline wall. The left and right three-dimensionalguideline walls each has a height based at least on a height of aportion of the vehicle, and the left and right three-dimensionalguideline walls have a distance therebetween based at least on a widthof the vehicle. The left and right guideline walls identify a potentialpath of travel for the vehicle.

In one embodiment, a method of aiding a user navigating a vehicle isdisclosed. In one embodiment, a method includes acquiring data thatspecifies a steering angle for the vehicle. The method includesdetermining, based on the data, a left three-dimensional guideline walland a right three-dimensional guideline wall. The left and rightthree-dimensional guideline walls each has a height based at least on aheight of a portion of the vehicle, and the left and rightthree-dimensional guideline walls have a distance therebetween based atleast on a width of the vehicle. The left and right guideline wallsidentify a potential path of travel for the vehicle.

BRIEF DESCRIPTION OF THE DRAWINGS

The accompanying drawings, which are incorporated in and constitute apart of the specification, illustrate various systems, methods, andother embodiments of the disclosure. It will be appreciated that theillustrated element boundaries (e.g., boxes, groups of boxes, or othershapes) in the figures represent one embodiment of the boundaries. Insome embodiments, one element may be designed as multiple elements ormultiple elements may be designed as one element. In some embodiments,an element shown as an internal component of another element may beimplemented as an external component and vice versa. Furthermore,elements may not be drawn to scale.

FIG. 1 is a perspective view of a vehicle having a vehicle guidancesystem, a camera sensor and a display device.

FIG. 2 illustrates one embodiment of a vehicle within which systems andmethods disclosed herein may be implemented.

FIG. 3 illustrates one embodiment of a vehicle guidance system that isassociated with displaying three-dimensional guideline walls.

FIG. 4 illustrates one example of a vehicle on a generally level surfacethat can utilize the vehicle guidance system of FIG. 3.

FIGS. 5A-5C illustrate an exemplary display device displaying a field ofview of the vehicle of FIG. 4 (on a level surface) and example guidelinewalls overlaying the field of view.

FIG. 6 illustrates one example of a vehicle on a generally slopedsurface that can utilize the vehicle guidance system of FIG. 3.

FIG. 7 illustrates an exemplary display device displaying a field ofview of the vehicle of FIG. 6 (on a sloped surface) and exampleguideline walls overlaying the field of view.

FIG. 8 illustrates one embodiment of a method associated withdetermining three-dimensional guideline walls.

DETAILED DESCRIPTION

Systems, methods, and other embodiments associated with a manner ofdisplaying three-dimensional guideline walls are disclosed. As noted,using two-dimensional guidelines along a potential path of travel for avehicle may not provide a driver with guidance relating to whether thevehicle aligns within a space along the potential path.

Accordingly, in one embodiment, the disclosed approach overlaysthree-dimensional guideline walls, based on a profile of the vehicle, ona camera image to assist the driver in aligning the vehicle within aspace. For example, the disclosed approach can assist a driver backingup a pickup truck, to align the truck with a trailer, or morespecifically, to align a hitch on the truck to a hitch on the trailer.In such an example, the three-dimensional guideline walls are of a sameheight and width as sidewalls of the pickup truck, and the guidelinewalls extend away from the truck and along the potential path based on asteering angle. The position of the guideline walls in relation to otherobjects in the image may assist the driver in orienting the vehicle toalign with the trailer.

In a broad context, the vehicle guidance system can assist a drivernavigating through a space, either in a forward direction and/or in arearward direction. In another embodiment, the disclosed approach mayoverlay a guideline surface extending from one guideline wall to theother guideline wall on the camera image. As an example, in a forwarddirection, the guideline surface may be at a height of a front hood ofthe vehicle, or at a height of a roof of the vehicle. As anotherexample, in a rearward direction, the guideline surface may be at aheight of a trunk of the vehicle.

As illustrated in FIG. 1, an exemplary vehicle 100 includes a vehicleguidance system that displays a potential path of travel based on thesteering angle of the vehicle 100. Although illustrated as a pickuptruck having a truck bed 130 and a hitch 175 located on the truck bed130, the vehicle 100 may include any passenger or commercial automobilesuch as a sedan, a sport utility vehicle, a crossover vehicle, a van, aminivan, a bus, etc.

The vehicle has a body 140 with a front 145, a rear 150 spaced from thefront 145, a left side 155 and a right side 160 spaced from the leftside 155. The terms front 145, rear 150, left side 155 and right side160 are understood from the perspective of an operator of the vehicle100 seated in a driver's seat in a standard operating position, i.e.,facing a steering wheel 165. The vehicle may have one or more roadwheels 170. The vehicle 100 may include a cabin 125. The vehicle 100 mayinclude a camera sensor 122 mounted on an outside portion of the cabin125. The camera sensor 122 may have a field of view that includes a rearview of the vehicle 100. Additionally, and/or alternatively, the camerasensor 122 may have a field of view that includes a forward view of thevehicle 100. The vehicle 100 may include a display device 136 in thecabin 125 that may display the field of view.

The description of possible elements of the vehicle 100 shown in FIG. 1will be described along with subsequent figures. Additionally, it willbe appreciated that for simplicity and clarity of illustration, whereappropriate, reference numerals have been repeated among the differentfigures to indicate corresponding or analogous elements. In addition,the discussion outlines numerous specific details to provide a thoroughunderstanding of the embodiments described herein. Those of skill in theart, however, will understand that the embodiments described herein maybe practiced using various combinations of these elements.

Referring to FIG. 2, an example of a vehicle 100 is illustrated. As usedherein, a “vehicle” is any form of motorized transport. In one or moreimplementations, the vehicle 100 is an automobile. While arrangementswill be described herein with respect to automobiles, it will beunderstood that embodiments are not limited to automobiles. In someimplementations, the vehicle 100 may be any robotic device or form ofmotorized transport that, for example, includes sensors to perceiveaspects of the surrounding environment, and thus benefits from thefunctionality discussed herein.

The vehicle 100 includes a sensor system 220, a display device 136 andthe vehicle guidance system 270. The vehicle 100 also includes variouselements. It will be understood that in various embodiments it may notbe necessary for the vehicle 100 to have all of the elements shown inFIG. 2. The vehicle 100 can have any combination of the various elementsshown in FIG. 2. Further, the vehicle 100 can have additional elementsto those shown in FIG. 2. In some arrangements, the vehicle 100 may beimplemented without one or more of the elements shown in FIG. 2. Whilethe various elements are shown as being located within the vehicle 100in FIG. 2, it will be understood that one or more of these elements canbe located external to the vehicle 100. Further, the elements shown maybe physically separated by large distances.

Some of the possible elements of the vehicle 100 are shown in FIG. 2 andwill be described along with subsequent figures. However, a descriptionof many of the elements in FIG. 2 will be provided after the discussionof FIGS. 3-8 for purposes of brevity of this description.

In either case, the vehicle 100 includes the vehicle guidance system 270that is implemented to perform methods and individual functions asdisclosed herein relating to displaying three-dimensional guidelinewalls overlaying a display of a potential path of travel. The notedfunctions and methods will become more apparent with a furtherdiscussion of the figures.

With reference to FIG. 3, one embodiment of the vehicle guidance system270 of FIG. 2 is further illustrated. The vehicle guidance system 270 isshown as including a processor 210 from the vehicle 100 of FIG. 2.Accordingly, the processor 210 may be a part of the vehicle guidancesystem 270, the vehicle guidance system 270 may include a separateprocessor from the processor 210 of the vehicle 100, or the vehicleguidance system 270 may access the processor 210 through a data bus oranother communication path. In either case, it is generally understoodthat the processor 210 is a microprocessor or other electronicprocessing device that is configured with computing resources capable ofperforming the functions (e.g., executing machine learning algorithms)disclosed herein.

In one embodiment, the vehicle guidance system 270 includes a memory 310that stores an acquisition module 320 and a guideline determinationmodule 330. The memory 310 may be a random-access memory (RAM),read-only memory (ROM), a hard disk drive, a flash memory, or any othersuitable memory for storing the acquisition and guideline determinationmodules 320, 330. The acquisition and guideline determination modules320, 330 are, for example, computer-readable instructions that whenexecuted by the processor 210 cause the processor 210 to perform thevarious functions disclosed herein.

The acquisition module 320 generally includes instructions that functionto control the processor 210 to receive data inputs from vehiclesensor(s) (e.g., steering angle sensor) 221 and/or environment sensor(s)222 of the vehicle. The acquisition module 320, in one embodiment, mayreceive data inputs in the form of a steering angle of the vehicle 100.In addition, the acquisition module 320 may receive data inputs in theform of a gradient of a road along a potential path of travel. Theacquisition module 320 can employ various techniques to acquire thesteering angle and/or the road gradient that are either active orpassive. For example, the acquisition module 320 may passively sniff thedata inputs from a stream of electronic information provided by thevarious sensors to further components within the vehicle 100. As anotherexample, the acquisition module 320 may actively request and/or poll thesteering angle sensor 221 and/or the road gradient sensor 222 for datainputs.

In general, as provided for herein, the acquisition module 320 receivesthe data specifying the steering angle and/or the road gradient, andtransmits the data to the guideline determination module 330.

The guideline determination module 330 generally includes instructionsthat function to control the processor 210 to determine, based on thedata, a left three-dimensional guideline wall and a rightthree-dimensional guideline wall. The guideline determination module 330determines the left and right three-dimensional guideline walls bydetermining a height, width, length, curvature, and position of thethree-dimensional guideline walls as well as a distance between thethree-dimensional guideline walls. Each of the height, width, length,curvature, position and distance are explained in detail below.

The guideline determination module 330 determines, or in other words,calculates the height, width, length, curvature, position, and/ordistance, based on sensor location coordinates, vehicle reference pointcoordinates and/or user inputs.

The sensor location coordinates and the vehicle reference pointcoordinates may be set during manufacturing, and the coordinates may bestored in the memory 310 and/or programmed into the guidelinedetermination module 330. Alternatively, in the case of the sensorlocation coordinates, the guideline determination module 330 maycommunicate with a sensor 220, requesting and receiving the sensorlocation coordinates. In another example, the vehicle 100 may havemarkers on the body 140 of the vehicle 100 and the sensor(s) 220 maydetect and determine coordinates of the markers as the vehicle referencepoint coordinates. In another example, the vehicle reference pointcoordinates may be based on dimensions (e.g., height, width) of thevehicle 100.

The guideline determination module 330 may measure the distance betweenthe vehicle reference points to determine the height, width, position ofand/or distance between the three-dimensional guideline walls. Theheight, width, position of and/or distance between the three-dimensionalguideline walls may be outputted to the display device 136 ascalculated. Alternatively, the height, width, position, and distance maybe adjusted by the user via an input system 230. In such a case, theguideline determination module 330 may adjust the height and width byincreasing or reducing the dimensions, and may adjust the position anddistance by moving the three-dimensional guideline walls upwards,downwards, inwards or outwards. The guideline determination module 330may output the adjusted height, width, position of and/or distancebetween the guideline walls to the output system 235 and/or the displaydevice 136.

The guideline determination module 330 calculates the curvature of theguideline walls based on the steering angle. In one embodiment, theguideline determination module 330 may calculate the curvature of theguideline walls based on various factors including a distance between avehicle center of gravity and a front wheel 170, a distance between thevehicle center of gravity and a rear wheel 170, and a gradient of theroad along the potential path of travel. The guideline determinationmodule 330 may determine the curvature of the three-dimensionalguideline walls using any suitable algorithm.

The guideline determination module 330 determines the length of thethree-dimensional guideline walls. The length is further describedbelow. The guideline determination module 330 may determine the lengthbased on manufacturer's settings and/or user input.

In one embodiment, the guideline determination module 330 may determinea slope along the length of the three-dimensional guideline walls basedon the road gradient. In such an embodiment, the guideline determinationmodule 330 may receive the road gradient values from a sensor such as aLiDAR sensor.

The color of the left and right guideline walls may vary based on atleast one of a direction and a curvature of the potential path. In otherwords, the guideline determination module 330 may assign the guidelinewalls colors based on a forward direction or a rearward direction.Further, the guideline determination module 330 may assign the guidelinewalls colors based on the curvature. As an example, where the curvatureof a guideline wall is veering leftwards or rightwards, the guidelinedetermination module 330 may assign the curvature a first color, as anexample, yellow. However, when the curvature is generally straight andfacing rearwards (i.e., not veering either leftwards or rightwards), theguideline determination module 330 may assign the trajectory a secondcolor, e.g., white. Other suitable color schemes representative of otherdirections (e.g., sloping upward or downward) are also possible.

FIG. 4 illustrates an example where the vehicle 100 is moving in arearward direction on a generally level ground plane L. As an exampleand as shown, a camera sensor 122 may have a field of view 400 thatincludes a rearview of the vehicle 100.

FIGS. 5A-5C illustrate example images displayed on a screen of thedisplay device 136 related to the vehicle 100 moving in the rearwarddirection on the generally level ground plane L.

As shown in FIGS. 5A-5C, the images 530 on the display device 136 maydepict the camera sensor's 122 field of view 400, and show a rearview ofthe vehicle 100. Additionally, the image 530 may include left and rightthree-dimensional guideline walls 510, 520, where the left and rightthree-dimensional guideline walls 510, 520 overlay the field of view400, and based on the data specifying the steering angle, identify apotential path of travel for the vehicle 100.

The left and right three-dimensional guideline walls 510, 520 may eachhave a height H based at least on a height of a portion of the vehicle100. As an example and as shown in FIGS. 5A-5C, the height H of thethree-dimensional guideline walls 510, 520 may extend vertically fromthe truck bed to the height of the sidewalls of a truck. Alternativelyand as another example, the height H of the three-dimensional guidelinewalls 510, 520 may extend vertically from a lower portion of a vehicle100 to the height of the roof of the vehicle 100.

The left and right three-dimensional guideline walls 510, 520 may eachhave a width W. As an example and as shown in FIGS. 5A-5C, the width Wof the three-dimensional guideline walls 510, 520 may extendhorizontally along the width of the sidewalls of a truck. Alternativelyand as another example, the width W of the three-dimensional guidelinewalls 510, 520 may extend horizontally to a default setting such as amanufacturer's setting, a value programmed into memory, or a valueinputted by the user. As such, in a case where the vehicle 100 is asedan, the width W may be set to the default setting.

The left and right three-dimensional guideline walls 510, 520 may have adistance D between each other. The distance D may be based at least on awidth of the vehicle 100. As an example, the distance D may extend froman inner portion of the left three-dimensional guideline wall to aninner portion of the right three-dimensional guideline wall such thatthe left and right three-dimensional guideline walls align with the leftand right sides of the vehicle.

The left and right three-dimensional guideline walls 510, 520 may eachhave a length L. As an example and as shown in FIGS. 5A-5C, the length Lof the three-dimensional guideline walls 510, 520 may extend from therear of the vehicle 100 in a direction of the curvature. In other words,the length of each of the left and right guideline walls 510, 520 is acurvature based on each guideline wall 510, 520 extending from thevehicle 100 along the potential path of travel as determined by theguideline determination module 330. The length L of thethree-dimensional guideline walls 510, 520 may extend to a defaultlength such as a length set by the manufacturer or programmed intomemory. The length may also be adjustable based on user input.

The left and right three-dimensional guideline walls 510, 520 may eachhave a position defined in relation to the vehicle 100. In other words,each of the left and right three-dimensional guideline walls 510, 520may be positioned such that the left and right guideline walls arelocated relative to the left and right sides of the vehicle 100,respectively. As a default, the position of the three-dimensionalguideline walls 510, 520 may align with the sides of the vehicle 100 orat a position set by the manufacturer or programmed into memory. Theposition may also be adjustable based on user input, as explained below.

As shown in FIG. 5A, the image 530 a may depict a surface 550 extendingfrom the left guideline wall 510 to the right guideline wall 520. In oneembodiment, the surface 550 may extend from a lower portion 512 of theleft guideline wall 510 to a lower portion 522 of the right guidelinewall 520. In another embodiment, the vehicle 100 may be a pickup truckhaving a truck bed 130 and a hitch 175 located on the truck bed, and insuch an embodiment, an additional three-dimensional wall 560 may extendfrom the hitch 175 toward the potential path.

As shown in FIG. 5B, the height and the width of each of the guidelinewalls 510, 520 may be adjustable by the user. As an example, the usermay adjust each of the height and width via the input system 230, suchas a slidable button or a rotatable knob. The input system 230 mayinclude an actuator (not shown) that is communicatively coupled to thevehicle guidance system 270. The actuator may send a signal to thevehicle guidance system 270 whenever the input system 230 detects anadjustment, and the vehicle guidance system 270, specifically, theguideline determination module 330 may, in response to the signal,adjust the height and/or width of the guideline wall 510, 520.

As an example and as shown in FIG. 5B, if the input system 230 detects aheight increasing adjustment, the height of the guideline walls 510, 520would increase, and when the input system 230 detects a width increasingadjustment, the width of the guideline walls 510, 520 would increase.Similarly and as an example, if the input system 230 detects a heightdecreasing adjustment, the height of the guideline walls 510, 520 woulddecrease, and when the input system 230 detects a width decreasingadjustment, the width of the guideline walls 510, 520 would decrease.The heights and widths of the left and right guideline walls 510, 520may increase or decrease together or independent of each other.

As another example and as shown in FIG. 5C, a position of each of theguideline walls 510, 520 may be vertically and/or horizontallyadjustable by the user. As an example and as shown in FIG. 5C, if theinput system 230 detects an inwards adjustment, the guideline walls 510,520 may move inwards and towards a longitudinal axis T, and when theinput system 230 detects an outwards adjustment, the guideline walls510, 520 may move outwards and away from the longitudinal axis T.Similarly and as an example, if the input system 230 detects an upwardsadjustment, the guideline walls 510, 520 would move upwards, and whenthe input system 230 detects a downwards adjustment, the guideline walls510, 520 would move downwards. The left and right guideline walls 510,520 may move inwards, outwards, upwards, or downwards together orindependent of each other.

FIG. 6 illustrates an example where the vehicle 100 is moving in arearward direction on a sloped ground plane S, and FIG. 7 illustrates anexample image displayed on a screen of a display device 136 related tothe vehicle 100 moving in the rearward direction on the sloped groundplane S.

In an example as shown in FIG. 6, the vehicle 100 may be movingrearwards along the sloped ground plane, and in such an example as shownin FIG. 7, the guideline determination module 330 may consider thegradient of the sloped ground plane in calculating the curvature of theguideline walls 510, 520, and the guideline walls 510, 520 may be slopedaccordingly.

As shown in FIG. 7, the image 530 d on the display device 136 may depicta camera sensor's 122 field of view 400, and show a rearview of thevehicle 100. Additionally, the image 530 d may include the left andright three-dimensional guideline walls 510, 520, where the left andright three-dimensional guideline walls 510, 520 overlay the field ofview 400, and based on the data specifying the steering angle as well asa gradient of a sloped ground plane, identify a potential path of travelfor the vehicle 100, including a slope in the curvature.

FIG. 8 illustrates a flowchart of a method 800 that is associated withdetermining the dimensions and curvature of the guideline walls 510,520. Method 800 will be discussed from the perspective of the vehicleguidance system 270 of FIG. 3. While method 800 is discussed incombination with the vehicle guidance system 270, it should beappreciated that the method 800 is not limited to being implementedwithin the vehicle guidance system 270, but is instead one example of asystem that may implement the method 800.

At 810, the acquisition module 320 acquires data that specifies thesteering angle of the vehicle 100. As previously described, theacquisition module 320 may passively or actively acquire the steeringangle data. As an example, in a passive manner, the acquisition module320 may monitor a CAN bus for steering angle data, and retrieve the datafrom the CAN bus as the data becomes available. As another example, inan active manner, the acquisition module 320 may query the steeringangle sensor 221 directly or indirectly for the steering angle. Theacquisition module 320 may continually acquire data and in response to achange in the steering angle, update the steering angle data. Thesteering angle may be measured in degrees or any reasonable unit.

At 820, as an option, the acquisition module 320 may receive dataidentifying the gradient of a road L, S along the potential path oftravel. Similar to the steering angle data, the acquisition module 320may passively or actively acquire the gradient data. As an example, in apassive manner, the acquisition module 320 may monitor a CAN bus forgradient data, and retrieve the data from the CAN bus as the databecomes available. As another example, in an active manner, theacquisition module 320 may query a road gradient sensor directly orindirectly for the gradient. The acquisition module 320 may continuallyacquire data and in response to a change in the gradient, update thegradient data. The gradient may be measured in degrees or any reasonableunit.

At 830, the guideline determination module 330 may determine thecurvature and the slope of the curvature of the guideline walls 510, 520based on the received steering angle and the gradient. As an example, ina vehicle 100 with a front-wheel drive, when the steering angleindicates that the vehicle 100 is being steered to the left, thecurvature may extend from the rear of the vehicle 100 in a curvedformation towards the left. Similarly, when the steering angle indicatesthat the vehicle 100 is being steered to the right, the curvature mayextend from the rear of the vehicle 100 in a curved formation towardsthe right. The curvature may be defined by a radius of the curvature,which may be determined based on the steering angle. The curvature maybe further defined by the road gradient. As an example of such a case,the curvature may slope in a manner that matches the road gradient.

At 840, the guideline determination module 330 may determine a surface550 extending between the left and right three-dimensional guidelinewalls 510, 520. As an example, the surface 550 may extend from a lowerportion 512 of the left three-dimensional guideline wall 510 to a lowerportion 522 of the right three-dimensional guideline wall 520. In suchan example, the surface 550 may be level with a floor of the vehicle100. As another example, the surface 550 may extend from an upperportion of the left three-dimensional guideline wall 510 to an upperportion of the right three-dimensional guideline wall 520. In such anexample, the surface 550 may be level with a roof of the vehicle 100.

At 850, the guideline determination module 330 may transmit coordinatesfor the left and right three-dimensional guideline walls 510, 520 to thedisplay device 136. The display device 136 may display a field of view400 of a sensor 222 such as a camera sensor 122. In one example, thecamera sensor 122 may be rear-facing relative the vehicle 100.Additionally or alternatively, the camera sensor 122 may beforward-facing relative to the vehicle 100. Based on the coordinatesreceived from the guideline determination module 330, the display device136 may display the left and right three-dimensional guideline walls510, 520 over the field of view 400. In other words, the display device136 may superimpose the left and right three-dimensional guideline walls510, 520 over the field of view 400 of the sensor 222.

At 860, the acquisition module 320 may receive user input, relating toadjustments to the height, the width, and/or the position of theguideline walls 510, 520, as well as the distance between the guidelinewalls 510, 520. The user input may be received via the input system 230when the user touches a user interface device such as an adjustableknob, slide, or a touchscreen. The user interface device may transmitthe user input to the vehicle guidance system 270, specifically, to theacquisition module 320.

At 870, the guideline determination module 330 may receive user inputdata from the acquisition module 320. The height, the width, and/or theposition of the guideline walls 510, 520, as well as the distancebetween the guideline walls 510, 520 may each have a default settingbased on the vehicle reference points (such as the dimensions of thesides 155, 160 of the vehicle 100) as stored and/or programmed intomemory 310. Based on the user inputs, the guideline determination module330 may adjust the height, width, and/or position of the left and rightguideline walls 510, 520 and/or distance between the left and rightguideline walls 510, 520. As an example, the height, width, and/orposition of the guideline walls 510, 520 and/or the distance between theguideline walls 510, 520 may default to programmed settings and/or maybe adjusted by the user via the input system 230 by increasing orreducing the height and/or the width of the guideline walls 510, 520and/or elevating or lowering the position of the guideline walls 510,520.

At 880, the guideline determination module may vary colors of the leftand right three-dimensional guideline walls 510, 520 based on at leastone of a direction and a curvature of the potential path of travel. Asan example, when there is a curvature in the potential path of travel,e.g., the vehicle 100 is veering rightwards, the guideline determinationmodule 330 may assign the left and right three-dimensional guidelinewalls 510, 520 a first color, e.g., yellow, and when there is nocurvature, i.e. the vehicle 100 is not veering either leftwards orrightwards, the guideline determination module 330 may assign the leftand right three-dimensional guideline walls a second color, e.g., white.Other suitable color schemes representative of other directions (e.g.,sloping upward or downward) are also possible.

At 890, in response to receiving an update in at least, one of thesteering angle, the road gradient and the input system 230, theguideline determination module 330 may re-determine the dimensions,position, and/or curvature of the guideline walls 510, 520 based on theupdated data.

FIG. 1 will now be discussed in full detail as an example environmentwithin which the system and methods disclosed herein may operate.

The vehicle 100 can include one or more processors 210. In one or morearrangements, the processor(s) 210 can be a main processor of thevehicle 100. For instance, the processor(s) 210 can be an electroniccontrol unit (ECU). The vehicle 100 can include one or more data stores215 for storing one or more types of data. The data store 215 caninclude volatile and/or non-volatile memory. Examples of suitable datastores 215 include RAM (Random Access Memory), flash memory, ROM (ReadOnly Memory), PROM (Programmable Read-Only Memory), EPROM (ErasableProgrammable Read-Only Memory), EEPROM (Electrically ErasableProgrammable Read-Only Memory), registers, magnetic disks, opticaldisks, hard drives, or any other suitable storage medium, or anycombination thereof. The data store 215 can be a component of theprocessor(s) 210, or the data store 215 can be operatively connected tothe processor(s) 210 for use thereby. The term “operatively connected,”as used throughout this description, can include direct or indirectconnections, including connections without direct physical contact.

In one or more arrangements, the one or more data stores 215 can includemap data 216. The map data 216 can include maps of one or moregeographic areas. In some instances, the map data 216 can includeinformation or data on roads, traffic control devices, road markings,structures, features, and/or landmarks in the one or more geographicareas. The map data 216 can be in any suitable form. In some instances,the map data 216 can include aerial views of an area. In some instances,the map data 216 can include ground views of an area, including360-degree ground views. The map data 216 can include measurements,dimensions, distances, and/or information for one or more items includedin the map data 216 and/or relative to other items included in the mapdata 216. The map data 216 can include a digital map with informationabout road geometry. The map data 216 can be high quality and/or highlydetailed.

In one or more arrangements, the map data 216 can include one or moreterrain maps 217. The terrain map(s) 217 can include information aboutthe ground, terrain, roads, surfaces, and/or other features of one ormore geographic areas. The terrain map(s) 217 can include elevation datain the one or more geographic areas. The map data 216 can be highquality and/or highly detailed. The terrain map(s) 217 can define one ormore ground surfaces, which can include paved roads, unpaved roads,land, and other things that define a ground surface.

In one or more arrangements, the map data 216 can include one or morestatic obstacle maps 218. The static obstacle map(s) 218 can includeinformation about one or more static obstacles located within one ormore geographic areas. A “static obstacle” is a physical object whoseposition does not change or substantially change over a period of timeand/or whose size does not change or substantially change over a periodof time. Examples of static obstacles include trees, buildings, curbs,fences, railings, medians, utility poles, statues, monuments, signs,benches, furniture, mailboxes, large rocks, hills. The static obstaclescan be objects that extend above ground level. The one or more staticobstacles included in the static obstacle map(s) 218 can have locationdata, size data, dimension data, material data, and/or other dataassociated with it. The static obstacle map(s) 218 can includemeasurements, dimensions, distances, and/or information for one or morestatic obstacles. The static obstacle map(s) 218 can be high qualityand/or highly detailed. The static obstacle map(s) 218 can be updated toreflect changes within a mapped area.

The one or more data stores 215 can include sensor data 219. In thiscontext, “sensor data” means any information about the sensors that thevehicle 100 is equipped with, including the capabilities and otherinformation about such sensors. As will be explained below, the vehicle100 can include the sensor system 220. The sensor data 219 can relate toone or more sensors of the sensor system 220. As an example, in one ormore arrangements, the sensor data 219 can include information on one ormore LIDAR sensors 224 of the sensor system 220.

In some instances, at least a portion of the map data 216 and/or thesensor data 219 can be located in one or more data stores 215 locatedonboard the vehicle 100. Alternatively, or in addition, at least aportion of the map data 216 and/or the sensor data 219 can be located inone or more data stores 215 that are located remotely from the vehicle100.

As noted above, the vehicle 100 can include the sensor system 220. Thesensor system 220 can include one or more sensors. “Sensor” means anydevice, component and/or system that can detect, and/or sense something.The one or more sensors can be configured to detect, and/or sense inreal-time. As used herein, the term “real-time” means a level ofprocessing responsiveness that a user or system senses as sufficientlyimmediate for a particular process or determination to be made, or thatenables the processor to keep up with some external process.

In arrangements in which the sensor system 220 includes a plurality ofsensors, the sensors can work independently from each other.Alternatively, two or more of the sensors can work in combination witheach other. In such case, the two or more sensors can form a sensornetwork. The sensor system 220 and/or the one or more sensors can beoperatively connected to the processor(s) 210, the data store(s) 215,and/or another element of the vehicle 100 (including any of the elementsshown in FIG. 2). The sensor system 220 can acquire data of at least aportion of the external environment of the vehicle 100 (e.g., nearbyvehicles).

The sensor system 220 can include any suitable type of sensor. Variousexamples of different types of sensors will be described herein.However, it will be understood that the embodiments are not limited tothe particular sensors described. The sensor system 220 can include oneor more vehicle sensors 221. The vehicle sensor(s) 221 can detect,determine, and/or sense information about the vehicle 100 itself. In oneor more arrangements, the vehicle sensor(s) 221 can be configured todetect, and/or sense position and orientation changes of the vehicle100, such as, for example, based on inertial acceleration. In one ormore arrangements, the vehicle sensor(s) 221 can include one or moreaccelerometers, one or more gyroscopes, an inertial measurement unit(IMU), a dead-reckoning system, a global navigation satellite system(GNSS), a global positioning system (GPS), a navigation system 247,and/or other suitable sensors. The vehicle sensor(s) 221 can beconfigured to detect, and/or sense one or more characteristics of thevehicle 100. In one or more arrangements, the vehicle sensor(s) 221 caninclude a speedometer to determine a current speed of the vehicle 100.

The vehicle sensors 221 may include a steering angle sensor. The term“steering angle” can refer to an angle between a longitudinal axis ofthe body 140 of the vehicle 100 and a steered road wheel 170 of thevehicle 100. For example, when a steered road wheel 170 is parallel tothe longitudinal axis of the vehicle 100, the steering angle is zerodegrees (when measured in degrees). When the steered road wheel 170 isturned 25 degrees left relative to a heading and the longitudinal axisof the vehicle 100, the steering angle is 25 degrees. When the steeredroad wheel 170 is turned 25 degrees right relative to the heading andthe longitudinal axis of the vehicle 100, the steering angle is −25degrees.

The steering angle sensor can be of any variety of known types. Forexample, the steering angle sensor can rotationally engage a steeringwheel and/or a steering column to determine the steering angle. Inanother example, the steering angle sensor may include a mechanicalcoupling such as a bearing and an electronic component, e.g., an opticalsensor, a resistive transducer, etc., to determine the steering angle.As discussed above, the steering angle sensor can provide data to theprocessor 210, such as the steering angle, via, e.g., the CAN bus.

By way of example, and not limitation, the steering angle sensor mayinclude, e.g., altimeters, cameras, LIDAR, radar, ultrasonic sensors,infrared sensors, pressure sensors, accelerometers, gyroscopes,temperature sensors, pressure sensors, hall sensors, optical sensors,voltage sensors, current sensors, mechanical sensors such as switches,etc.

Alternatively, or in addition, the sensor system 220 can include one ormore environment sensors 222 configured to acquire, and/or sense drivingenvironment data. “Driving environment data” includes data orinformation about the external environment in which the vehicle 100 islocated or one or more portions thereof. For example, the one or moreenvironment sensors 222 can be configured to detect, quantify and/orsense obstacles in at least a portion of the external environment of thevehicle 100 and/or information/data about such obstacles. Such obstaclesmay be stationary objects (e.g., a road, potholes, dips, bumps, changesin a gradient of the road, etc.) and/or dynamic objects (e.g., othervehicles, pedestrians, etc.). The one or more environment sensors 222can be configured to detect, measure, quantify and/or sense other thingsin the external environment of the vehicle 100, such as, for example,lane markers, signs, traffic lights, traffic signs, lane lines,crosswalks, curbs proximate the vehicle 100, off-road objects, etc.

The environment sensors 222 may be disposed on a top of the vehicle 100,in front of a vehicle front windshield, behind a vehicle rearwindshield, and/or around the vehicle 100. The environment sensor 222has a field of view 540 relating to where the environment sensor 222 ispositioned. As an example, an environment sensor 222 such as a camera,disposed in front of the vehicle front windshield and facing the forwarddirection, will have a forward view of the vehicle 100. As anotherexample, an environment sensor 222, disposed behind the vehicle rearwindshield, will have a rear view of the vehicle 100.

Various examples of sensors of the sensor system 220 will be describedherein. The example sensors may be part of the one or more environmentsensors 222 and/or the one or more vehicle sensors 221. However, it willbe understood that the embodiments are not limited to the particularsensors described.

As an example, in one or more arrangements, the sensor system 220 caninclude one or more radar sensors 223, one or more LIDAR sensors 224,one or more sonar sensors 225, and/or one or more camera sensors 122. Inone or more arrangements, the one or more camera sensors 122 can be highdynamic range (HDR) cameras or infrared (IR) cameras.

The vehicle 100 can include an input system 230. An “input system”includes any device, component, system, element or arrangement or groupsthereof that enable information/data to be entered into a machine. Theinput system 230 can receive an input from a vehicle passenger (e.g., adriver or a passenger). The vehicle 100 can include an output system235. An “output system” includes any device, component, or arrangementor groups thereof that enable information/data to be presented to avehicle passenger (e.g., a person, a vehicle passenger, etc.).

An output system 235 may include the display device 136. The displaydevice 136 presents information to and may receive information from theuser of the vehicle 100. The display device 136 may be located whereverthe display device 136 may be readily seen by the user, e.g., on aninstrument panel in an occupant cabin of the vehicle, or on a rearviewmirror. In an embodiment where the vehicle 100 is remote-controlled, thedisplay device 136 may be located outside the vehicle 100. As anexample, the display device 136 may include a Human Machine Interface(HMI). The display device 136 may include dials, digital readouts,screens, speakers, and so on for providing information to the occupant.The display device 136 may include buttons, knobs, keypads, amicrophone, a touchscreen, an interactive voice response (IVR) system,and so on for receiving information from the occupant. The displaydevice 136 may have, e.g., a soft key or a push button to send signalsto the vehicle guidance system 270. For example, the signals may includenotifications to the vehicle guidance system 270 to adjust thedimensions and/or positioning of the three-dimensional guidelines.

The vehicle 100 can include one or more vehicle systems 240. Variousexamples of the one or more vehicle systems 240 are shown in FIG. 2.However, the vehicle 100 can include more, fewer, or different vehiclesystems. It should be appreciated that although particular vehiclesystems are separately defined, each or any of the systems or portionsthereof may be otherwise combined or segregated via hardware and/orsoftware within the vehicle 100. The vehicle 100 can include apropulsion system 241, a braking system 242, a steering system 243,throttle system 244, a transmission system 245, a signaling system 246,and/or a navigation system 247. Each of these systems can include one ormore devices, components, and/or a combination thereof, now known orlater developed.

The navigation system 247 can include one or more devices, applications,and/or combinations thereof, now known or later developed, configured todetermine the geographic location of the vehicle 100 and/or to determinea travel route for the vehicle 100. The navigation system 247 caninclude one or more mapping applications to determine a travel route forthe vehicle 100. The navigation system 247 can include a globalpositioning system, a local positioning system or a geolocation system.

The vehicle 100 can include one or more actuators 250. The actuators 250can be any element or combination of elements operable to modify, adjustand/or alter one or more of the vehicle systems 240 or componentsthereof to responsive to receiving signals or other inputs from theprocessor(s) 210. Any suitable actuator can be used. For instance, theone or more actuators 250 can include motors, pneumatic actuators,hydraulic pistons, relays, solenoids, and/or piezoelectric actuators,just to name a few possibilities.

The vehicle 100 can include one or more modules, at least some of whichare described herein. The modules can be implemented ascomputer-readable program code that, when executed by a processor 210,implement one or more of the various processes described herein. One ormore of the modules can be a component of the processor(s) 210, or oneor more of the modules can be executed on and/or distributed among otherprocessing systems to which the processor(s) 210 is operativelyconnected. The modules can include instructions (e.g., program logic)executable by one or more processor(s) 210. Alternatively, or inaddition, one or more data store 215 may contain such instructions.

In one or more arrangements, one or more of the modules described hereincan include artificial or computational intelligence elements, e.g.,neural network, fuzzy logic or other machine learning algorithms.Further, in one or more arrangements, one or more of the modules can bedistributed among a plurality of the modules described herein. In one ormore arrangements, two or more of the modules described herein can becombined into a single module.

Detailed embodiments are disclosed herein. However, it is to beunderstood that the disclosed embodiments are intended only as examples.Therefore, specific structural and functional details disclosed hereinare not to be interpreted as limiting, but merely as a basis for theclaims and as a representative basis for teaching one skilled in the artto variously employ the aspects herein in virtually any appropriatelydetailed structure. Further, the terms and phrases used herein are notintended to be limiting but rather to provide an understandabledescription of possible implementations. Various embodiments are shownin FIGS. 1-8, but the embodiments are not limited to the illustratedstructure or application.

The flowcharts and block diagrams in the figures illustrate thearchitecture, functionality, and operation of possible implementationsof systems, methods, and computer program products according to variousembodiments. In this regard, each block in the flowcharts or blockdiagrams may represent a module, segment, or portion of code, whichcomprises one or more executable instructions for implementing thespecified logical function(s). It should also be noted that, in somealternative implementations, the functions noted in the block may occurout of the order noted in the figures. For example, two blocks shown insuccession may, in fact, be executed substantially concurrently, or theblocks may sometimes be executed in the reverse order, depending uponthe functionality involved.

The systems, components and/or processes described above can be realizedin hardware or a combination of hardware and software and can berealized in a centralized fashion in one processing system or in adistributed fashion where different elements are spread across severalinterconnected processing systems. Any kind of processing system oranother apparatus adapted for carrying out the methods described hereinis suited. A typical combination of hardware and software can be aprocessing system with computer-usable program code that, when beingloaded and executed, controls the processing system such that it carriesout the methods described herein. The systems, components and/orprocesses also can be embedded in a computer-readable storage, such as acomputer program product or other data programs storage device, readableby a machine, tangibly embodying a program of instructions executable bythe machine to perform methods and processes described herein. Theseelements also can be embedded in an application product which comprisesall the features enabling the implementation of the methods describedherein and, which when loaded in a processing system, is able to carryout these methods.

Furthermore, arrangements described herein may take the form of acomputer program product embodied in one or more computer-readable mediahaving computer-readable program code embodied, e.g., stored, thereon.Any combination of one or more computer-readable media may be utilized.The computer-readable medium may be a computer-readable signal medium ora computer-readable storage medium. The phrase “computer-readablestorage medium” means a non-transitory storage medium. Acomputer-readable storage medium may be, for example, but not limitedto, an electronic, magnetic, optical, electromagnetic, infrared, orsemiconductor system, apparatus, or device, or any suitable combinationof the foregoing. More specific examples (a non-exhaustive list) of thecomputer-readable storage medium would include the following: a portablecomputer diskette, a hard disk drive (HDD), a solid-state drive (SSD), aread-only memory (ROM), an erasable programmable read-only memory (EPROMor Flash memory), a portable compact disc read-only memory (CD-ROM), adigital versatile disc (DVD), an optical storage device, a magneticstorage device, or any suitable combination of the foregoing. In thecontext of this document, a computer-readable storage medium may be anytangible medium that can contain, or store a program for use by or inconnection with an instruction execution system, apparatus, or device.

Generally, modules as used herein include routines, programs, objects,components, data structures, and so on that perform particular tasks orimplement particular data types. In further aspects, a memory generallystores the noted modules. The memory associated with a module may be abuffer or cache embedded within a processor, a RAM, a ROM, a flashmemory, or another suitable electronic storage medium. In still furtheraspects, a module as envisioned by the present disclosure is implementedas an application-specific integrated circuit (ASIC), a hardwarecomponent of a system on a chip (SoC), as a programmable logic array(PLA), or as another suitable hardware component that is embedded with adefined configuration set (e.g., instructions) for performing thedisclosed functions.

Program code embodied on a computer-readable medium may be transmittedusing any appropriate medium, including but not limited to wireless,wireline, optical fiber, cable, RF, etc., or any suitable combination ofthe foregoing. Computer program code for carrying out operations foraspects of the present arrangements may be written in any combination ofone or more programming languages, including an object-orientedprogramming language such as Java™, Smalltalk, C++ or the like andconventional procedural programming languages, such as the “C”programming language or similar programming languages. The program codemay execute entirely on the user's computer, partly on the user'scomputer, as a stand-alone software package, partly on the user'scomputer and partly on a remote computer, or entirely on the remotecomputer or server. In the latter scenario, the remote computer may beconnected to the user's computer through any type of network, includinga local area network (LAN) or a wide area network (WAN), or theconnection may be made to an external computer (for example, through theInternet using an Internet Service Provider).

The terms “a” and “an,” as used herein, are defined as one or more thanone. The term “plurality,” as used herein, is defined as two or morethan two. The term “another,” as used herein, is defined as at least asecond or more. The terms “including” and/or “having,” as used herein,are defined as comprising (i.e., open language). The phrase “at leastone of . . . and . . . .” as used herein refers to and encompasses anyand all possible combinations of one or more of the associated listeditems. As an example, the phrase “at least one of A, B, and C” includesA only, B only, C only, or any combination thereof (e.g., AB, AC, BC orABC).

Aspects herein can be embodied in other forms without departing from thespirit or essential attributes thereof. Accordingly, reference should bemade to the following claims, rather than to the foregoingspecification, as indicating the scope hereof.

What is claimed is:
 1. A vehicle guidance system for aiding a usernavigating a vehicle, comprising: one or more processors; a memorycommunicably coupled to the one or more processors and storing: anacquisition module including instructions that when executed by the oneor more processors cause the one or more processors to acquire data thatspecifies a steering angle for the vehicle; and a guidelinedetermination module including instructions that when executed by theone or more processors cause the one or more processors to determine,based on the steering angle data, a left three-dimensional guidelinewall and a right three-dimensional guideline wall that together identifya potential path of travel for the vehicle, and determine a curvature ofthe left and right three-dimensional guideline walls based on a gradientof a road along the potential path of travel, wherein the left and rightthree-dimensional guideline walls each have a height based at least on aheight of a portion of the vehicle and are adjustable by the user via auser interface device located on an instrument panel of the vehicle, andwherein the left and right three-dimensional guideline walls have adistance therebetween based at least on a width of the vehicle; and adisplay device configured to display a field of view exterior to thevehicle and the left and right three-dimensional guideline walls,wherein the left and right three-dimensional guideline walls overlay thefield of view, and wherein the curvature of the left and rightthree-dimensional guideline walls is continually updated on the displaydevice in response to detected changes in the gradient.
 2. The vehicleguidance system of claim 1, wherein the guideline determination modulefurther includes instructions to determine a width of each of the leftand right three-dimensional guideline walls.
 3. The vehicle guidancesystem of claim 2, wherein each of a position and the width of the leftand right three-dimensional guideline walls is adjustable by the user.4. The vehicle guidance system of claim 1, wherein the left and rightthree-dimensional guideline walls are spaced from each other and whereinthe guideline determination module further includes instructions todetermine a surface extending between the left three-dimensionalguideline wall and the right three-dimensional guideline wall, andwherein the display device is further configured to display the surfaceby overlaying the surface on the field of view.
 5. The vehicle guidancesystem of claim 1, wherein: the acquisition module further includesinstructions to, in response to a change in the steering angle, acquireupdated data specifying the change in the steering angle; and theguideline determination module further includes instructions todetermine, based on the updated data, the left and rightthree-dimensional guideline walls.
 6. The vehicle guidance system ofclaim 1, wherein a color of the left and right three-dimensionalguideline walls varies based on at least one of a direction and acurvature of the potential path of travel.
 7. The vehicle guidancesystem of claim 1, wherein the field of view is obtained from a camerasensor mounted on the vehicle.
 8. The vehicle guidance system of claim1, wherein the field of view includes at least one of a rear view of thevehicle and a forward view of vehicle.
 9. A method of aiding a usernavigating a vehicle, comprising: acquiring data that specifies asteering angle for the vehicle; determining, based on the steering angledata, a left three-dimensional guideline wall and a rightthree-dimensional guideline wall that together identify a potential pathof travel for the vehicle, and determine a curvature of the left andright three-dimensional guideline walls based on a gradient of a roadalong the potential path of travel, wherein the left and rightthree-dimensional guideline walls each have a height based at least on aheight of a portion of the vehicle and are adjustable by the user via auser interface device located on an instrument panel of the vehicle, andwherein the left and right three-dimensional guideline walls have adistance therebetween based at least on a width of the vehicle; andconfiguring a display device to display a field of view exterior to thevehicle and the left and right three-dimensional guideline walls,wherein the left and right three-dimensional guideline walls overlay thefield of view, and wherein the curvature of the left and rightthree-dimensional guideline walls is continually updated on the displaydevice in response to detected changes in the gradient.
 10. The methodof claim 9, further comprising determining a width of the left and rightthree-dimensional guideline walls.
 11. The method of claim 9, whereinthe left and right three-dimensional guideline walls are spaced fromeach other, the method further comprising: determining a surfaceextending between the left three-dimensional guideline wall and theright three-dimensional guideline wall, and displaying the surface byoverlaying the surface on the field of view.
 12. The method of claim 9,further comprising determining the left and right three-dimensionalguideline walls based on a gradient of a road along the potential pathof travel.
 13. The method of claim 9, further comprising, in response toa change in the steering angle, acquiring updated data specifying thechange in the steering angle; and determining, based on the updateddata, the left and right three-dimensional guideline walls.
 14. Themethod of claim 9, wherein a color of the left and rightthree-dimensional guideline walls varies based on at least one of adirection and a curvature of the potential path of travel.
 15. A vehicleguidance system for aiding a user navigating a vehicle, comprising: oneor more processors; a memory communicably coupled to the one or moreprocessors and storing: an acquisition module including instructionsthat when executed by the one or more processors cause the one or moreprocessors to acquire data that specifies a steering angle for thevehicle; and a guideline determination module including instructionsthat when executed by the one or more processors cause the one or moreprocessors to determine, based on the steering angle data, a leftthree-dimensional guideline wall and a right three-dimensional guidelinewall that together identify a potential path of travel for the vehicle,and determine a curvature of the left and right three-dimensionalguideline walls based on a gradient of a road along the potential pathof travel, wherein the left and right three-dimensional guideline wallseach have a height based at least on a height of a portion of thevehicle and a slope based at least on a gradient of a road along thepotential path of travel, and wherein the left and rightthree-dimensional guideline walls have a distance therebetween based atleast on a width of the vehicle; and a display device configured todisplay a field of view exterior to the vehicle and the left and rightthree-dimensional guideline walls, wherein the left and rightthree-dimensional guideline walls overlay the field of view, and whereinthe curvature of the left and right three-dimensional guideline walls iscontinually updated on the display device in response to detectedchanges in the gradient.
 16. The vehicle guidance system of claim 15,wherein the guideline determination module further includes instructionsto determine a width of each of the left and right three-dimensionalguideline walls.
 17. The vehicle guidance system of claim 16, whereineach of the height, a position, and the width of the left and rightthree-dimensional guideline walls is adjustable by the user.
 18. Thevehicle guidance system of claim 15, wherein the left and rightthree-dimensional guideline walls are spaced from each other and whereinthe guideline determination module further includes instructions todetermine a surface extending between the left three-dimensionalguideline wall and the right three-dimensional guideline wall, andwherein the display device is further configured to display the surfaceby overlaying the surface on the field of view.
 19. A vehicle guidancesystem for aiding a user navigating a vehicle, comprising: one or moreprocessors; a memory communicably coupled to the one or more processorsand storing: an acquisition module including instructions that whenexecuted by the one or more processors cause the one or more processorsto acquire data that specifies a steering angle for the vehicle; and aguideline determination module including instructions that when executedby the one or more processors cause the one or more processors todetermine, based on the steering angle data, a left three-dimensionalguideline wall and a right three-dimensional guideline wall thattogether identify a potential path of travel for the vehicle, anddetermine a curvature of the left and right three-dimensional guidelinewalls based on a gradient of a road along the potential path of travel,wherein the left and right three-dimensional guideline walls each have aheight based at least on a height of a portion of the vehicle and areadjustable by the user via one of an adjustable knob, a slide, or atouchscreen, and wherein the left and right three-dimensional guidelinewalls have a distance therebetween based at least on a width of thevehicle; and a display device configured to display a field of viewexterior to the vehicle and the left and right three-dimensionalguideline walls, wherein the left and right three-dimensional guidelinewalls overlay the field of view, and wherein the curvature of the leftand right three-dimensional guideline walls is continually updated onthe display device in response to detected changes in the gradient.